Successful Comma 4 Boot

selfdrive/car/card.py

@@ -27,6 +27,7 @@
 from openpilot.common.bluepilot import is_bluepilot
 if is_bluepilot():
   from openpilot.bluepilot.selfdrive.car.bp_card_publisher import publish_controller_state_bp, publish_car_state_bp
+# End BluePilot
 
 REPLAY = "REPLAY" in os.environ
 
@@ -77,6 +78,7 @@ def __init__(self, CI=None, RI=None) -> None:
     self.sm = messaging.SubMaster(['pandaStates', 'carControl', 'onroadEvents'] + ['carControlSP', 'longitudinalPlanSP'])
     # BluePilot: added controllerStateBP, carStateBP to PubMaster
     self.pm = messaging.PubMaster(['sendcan', 'carState', 'carParams', 'carOutput', 'liveTracks'] + ['carParamsSP', 'carStateSP', 'controllerStateBP', 'carStateBP'])
+    # End BluePilot
 
     self.can_rcv_cum_timeout_counter = 0
 
@@ -274,6 +276,7 @@ def state_publish(self, CS: car.CarState, CS_SP: custom.CarStateSP, RD: structs.
     # BluePilot: publish hybrid drive gauge data (carStateBP)
     if is_bluepilot():
       publish_car_state_bp(self.CI, self.pm, CS.canValid)
+    # End BluePilot
 
   def controls_update(self, CS: car.CarState, CC: car.CarControl, CC_SP: custom.CarControlSP):
     """control update loop, driven by carControl"""
@@ -296,6 +299,7 @@ def controls_update(self, CS: car.CarState, CC: car.CarControl, CC_SP: custom.Ca
     # BluePilot: publish lateral uncertainty for angleState vehicles (controllerStateBP)
     if is_bluepilot():
       publish_controller_state_bp(self.CI, self.pm)
+    # End BluePilot
 
 
   def step(self):

selfdrive/car/helpers.py

@@ -42,8 +42,10 @@ def convert_to_capnp(struct: structs.CarParamsSP | structs.CarStateSP | structs.
     struct_capnp = custom.CarParamsSP.new_message(**struct_dict)
   elif isinstance(struct, structs.CarStateSP):
     struct_capnp = custom.CarStateSP.new_message(**struct_dict)
-  elif isinstance(struct, structs.ControllerStateBP):  # BluePilot: controllerStateBP (lateral uncertainty)
+  # BluePilot: convert controllerStateBP custom message
+  elif isinstance(struct, structs.ControllerStateBP):
     struct_capnp = custom.ControllerStateBP.new_message(**struct_dict)
+  # End BluePilot
   else:
     raise ValueError(f"Unsupported struct type: {type(struct)}")